You can just use a cream or liquid foundation about 3 - 4 shades darker than your own skin tone! Usually stick foundations or concealers work best for the ease of just swiping them on where you need it. But you can totally just use a darker liquid foundation or cream bronzer and apply them with a brush.
Try stick cream products like
Maybelline Fit Me Shine Free Stick Foundation $8 You can use a darker shade to easily swipe in the hollows of your cheeks, forehead, etc.
Bobbi Brown Stick Foundation $44
But you can just use any darker foundation, concealer or cream bronzer and place them where you like to contour. Either just in the hollows of your cheeks or a full face contour.